Improvement of Heavy Load Robot Positioning Accuracy by Combining a Model-Based Identification for Geometric Parameters and an Optimized Neural Network for the Compensation of Nongeometric Errors

Table 3

Nominal value and identified value of robot geometric parameters.

	Nominal parameters
(mm), i = 1–5	312	1075	235	1282	260	0
(°), i = 1–6	0	0	0	0	0	0
	Identified parameters
(mm), i = 1–5	313.1011	1075.1209	234.2737	1281.3124	260	0
(°), i = 1–6	0	0.0044	0.0479	0.4524	−0.1892	0